Unmanned aerial vehicle device, unit for unmanned aerial vehicle, and inspection method using the unmanned aerial vehicle device

Abstract

We provide unmanned aerial vehicle devices that can perform inspections with improved accuracy. [Solution] The unmanned aerial vehicle device according to the present disclosure comprises: an unmanned aerial vehicle that flies along a wall surface extending vertically of a building; a support connected to the unmanned aerial vehicle so as to be movable in a front-rear direction perpendicular to the wall surface; a pair of wheels provided on the support at intervals in a width direction perpendicular to the vertical and front-rear directions and capable of rolling on the wall surface; an inspection device positioned between the pair of wheels and having a tip capable of contacting the wall surface; a pressing device provided on the support that generates a force to press the pair of wheels against the wall surface; and a control unit that remotely controls the unmanned aerial vehicle and the pressing device wirelessly.

Description

Technical Field

[0001] The present disclosure relates to an unmanned aerial vehicle device, a unit for an unmanned aerial vehicle, and an inspection method using the unmanned aerial vehicle device.

Background Art

[0002] For example, Patent Document 1 discloses an unmanned aerial vehicle device having an unmanned aerial vehicle, traveling wheels, and an inspection device. The traveling wheels and the inspection device are attached to the unmanned aerial vehicle. The traveling wheels travel on a wall surface as the unmanned aerial vehicle flies, and the inspection device contacts the wall surface to inspect the wall surface.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, due to air currents or the like, there is a risk that the unmanned aerial vehicle will move away from the wall surface during flight. In this case, the inspection device also moves away from the wall surface, making it difficult to maintain contact between the inspection device and the wall surface, and there is a risk that the inspection accuracy will decrease.

[0005] An object of the present disclosure is to solve the above problems and provide an unmanned aerial vehicle device capable of performing an inspection with improved accuracy.

[0006] An unmanned aerial vehicle device according to one aspect of the present disclosure comprises: an unmanned aerial vehicle that flies along a wall surface extending vertically of a building; a support connected to the unmanned aerial vehicle so as to be movable in a front-rear direction perpendicular to the wall surface; a pair of wheels provided on the support at intervals in a width direction perpendicular to the vertical and front-rear directions and capable of rolling on the wall surface; an inspection device positioned between the pair of wheels and having a tip capable of contacting the wall surface; a pressing device provided on the support that generates a force to press the pair of wheels against the wall surface; and a control unit that remotely controls the unmanned aerial vehicle and the pressing device wirelessly.

[0007] An unmanned aerial vehicle unit according to one aspect of the present disclosure is an unmanned aerial vehicle unit to be attached to an unmanned aerial vehicle that flies along a vertically extending wall surface of a building, comprising: a support connected to the unmanned aerial vehicle so as to be movable in a front-rear direction perpendicular to the wall surface; a pair of wheels provided on the support so as to be spaced apart in a width direction perpendicular to the vertical and front-rear directions and capable of rolling on the wall surface; an inspection device positioned between the pair of wheels and having a tip capable of contacting the wall surface; and a pressing device provided on the support for generating a force that presses the pair of wheels against the wall surface.

[0008] An inspection method using an unmanned aerial vehicle device according to one aspect of the present disclosure is a method for inspecting a vertically extending wall surface of a building using an unmanned aerial vehicle device, comprising: flying the unmanned aerial vehicle along the wall surface; bringing a pair of wheels provided on a support connected to the unmanned aerial vehicle and spaced apart in a width direction perpendicular to the vertical direction, and the tip of an inspection device positioned between the pair of wheels, into contact with the wall surface; rolling the pair of wheels on the wall surface; and generating a force to press the pair of wheels against the wall surface using a pressing device provided on the support, wherein the support is connected to the unmanned aerial vehicle so as to be movable relative to the wall surface in a front-rear direction perpendicular to the wall surface.

[0009] According to this disclosure, it is possible to provide an unmanned aerial vehicle device capable of performing inspections with improved accuracy. [Brief explanation of the drawing]

[0010] [Figure 1]Schematic diagram of an unmanned aerial vehicle device in Embodiment 1 of the present disclosure [Figure 2] Block diagram of a transmitter for an unmanned aerial vehicle device. [Figure 3] Side view of an unmanned aerial vehicle device [Figure 4] Plan view of an unmanned aerial vehicle device [Figure 5A] Side view of the inspection device [Figure 5B] Side view of the inspection device [Figure 6] A schematic diagram showing the movement path of an unmanned aerial vehicle device relative to a wall surface. [Figure 7A] Schematic diagram of an operating unmanned aerial vehicle device. [Figure 7B] Schematic diagram of an operating unmanned aerial vehicle device. [Modes for carrying out the invention]

[0011] Embodiment 1 of this disclosure will be described below with reference to the attached drawings.

[0012] (Embodiment 1) [Overall structure] Figure 1 is a schematic diagram of the unmanned aerial vehicle device 100 in Embodiment 1 of the present disclosure. In Figure 1 and subsequent drawings, the mutually orthogonal horizontal directions are referred to as the "forward / backward direction X" and the "width direction Y," and the vertical direction that is orthogonal to both the forward / backward direction X and the width direction Y is referred to as the up / down direction Z.

[0013] As shown in Figure 1, the unmanned aerial vehicle device 100 is a device for inspecting vertically extending wall surfaces 4 in structures such as buildings, bridges, dams, and tunnels. Specifically, the unmanned aerial vehicle device 100 performs an inspection of the wall surface 4 over a predetermined range by flying along the wall surface 4.

[0014] The unmanned aerial vehicle device 100 comprises an unmanned aerial vehicle 1, an unmanned aerial vehicle unit 2, a first transmitter 3, and a second transmitter 30.

[0015] The unmanned aerial vehicle 1 is a device that flies along the wall surface 4. The flight of the unmanned aerial vehicle 1 is remotely controlled by a first transmitter 3 via radio. The unmanned aerial vehicle 1 is a device capable of unmanned flight such as a drone, a multicopter, a radio control helicopter, etc. In Embodiment 1, the unmanned aerial vehicle 1 will be described as a drone 1.

[0016] The drone 1 has a drone body 10 and a propeller 12 attached to the drone body 10. The drone body 10 is a member that stores a propeller motor 15 for driving the propeller 12, a drone communication unit 16, and other devices necessary for flight.

[0017] The unit 2 for unmanned aerial vehicle is structured to be attached to the drone 1 and have a device for performing inspection of the wall surface 4. In Embodiment 1, the unit 2 for unmanned aerial vehicle will be described as an inspection unit 2.

[0018] The inspection unit 2 has a support 20, a connecting member 22, a pair of wheels 24, an inspection device 26, and a pressing device 28. The support 20 is connected to the drone 1 via the connecting member 22. In Embodiment 1, the support 20 is suspended from the drone 1 via the connecting member 22. The pair of wheels 24, the inspection device 26, and the pressing device 28 are provided on the support 20. The detailed structures of each component will be described later.

[0019] In Embodiment 1, the inspection unit 2 is detachably attached to the drone 1. With such a configuration, the inspection unit 2 can be attached to the drone without modifying a commercially available drone. Also, the drone can be replaced according to the inspection content and the state of the wall surface 4.

[0020] The first transmitter 3 is configured to control the drone 1. The first transmitter 3 includes, for example, a general-purpose processor such as a CPU, MPU, FPGA, DSP, or ASIC that realizes a predetermined function by executing a program. The first transmitter 3 realizes its function by executing a program stored in memory (not shown). The first transmitter 3 is not limited to realizing a predetermined function through the cooperation of hardware and software, but may also be a hardware circuit specifically designed to realize a predetermined function. In Embodiment 1, the first transmitter 3 is a controller that can be operated by the user of the unmanned aerial vehicle device 100.

[0021] The second transmitter 30 is configured to control the pressing device 28 of the inspection unit 2. The second transmitter 30 includes, for example, a general-purpose processor such as a CPU, MPU, FPGA, DSP, or ASIC that realizes a predetermined function by executing a program. The second transmitter 30 realizes its function by executing a program stored in memory (not shown). The second transmitter 30 is not limited to realizing a predetermined function through the cooperation of hardware and software, but may also be a hardware circuit specifically designed to realize a predetermined function. In Embodiment 1, the second transmitter 30 is a controller that can be operated by the user of the unmanned aerial vehicle device 100.

[0022] Figure 2 is a block diagram relating to transmitters 3 and 30. As shown in Figure 2, the first transmitter 3 communicates wirelessly with the drone communication unit 16, and the second transmitter 30 communicates wirelessly with the pressing device 28. Specifically, the first transmitter 3 and the second transmitter 30 include circuits that transmit information in accordance with a predetermined communication standard (for example, BLE via Bluetooth®), and the drone communication unit 16 and the pressing device 28 include circuits that receive the transmitted information.

[0023] In Embodiment 1, the transmitters 3 and 30 are separate configurations, but they may be a single configuration. Furthermore, the transmitters 3 and 30 include circuits for unidirectional or bidirectional communication of information and may be referred to as a "controller" or "control unit."

[0024] Next, the structure of the inspection unit 2 will be described in more detail with reference to Figures 3 to 5B. Figure 3 is a side view of the unmanned aerial vehicle device 100, and Figure 4 is a top view of the unmanned aerial vehicle device 100. Figures 5A and 5B are side views of the inspection device 26. In Figure 5A, the inspection device 26 is separated from the wall surface 4, and in Figure 5B, the inspection device 26 is in contact with the wall surface 4.

[0025] As shown in Figure 3, the support 20 is a member that extends horizontally perpendicular to the vertical direction Z below the drone 1. As shown in Figure 4, in Embodiment 1, the support 20 is a rectangular frame member having members 20A to 20D. Members 20A and 20B extend along the width direction Y with a gap in the front-rear direction X. Member 20B is further away from the wall surface 4 in the front-rear direction X than member 20A, i.e., it is located behind (-X side) member 20A. Members 20C and 20D connect members 20A and 20B and extend in the front-rear direction X with a gap in the width direction Y.

[0026] When viewed from the vertical direction Z, members 20A to 20D define an opening 23 that penetrates vertically Z at its center. The drone 1 is located inside the opening 23. Specifically, the entire drone 1 is located inside the opening 23. That is, the outer circumference of the drone body 10 and the tips of the propellers 12 are located inside the opening 23. Members 20A to 20D are spaced apart from the tips of the propellers 12.

[0027] The support 20 supports a pair of wheels 24, an inspection device 26, and a pressing device 28. Specifically, the pair of wheels 24 and the inspection device 26 are supported by the front (+X side) member 20A, and the pressing device 28 is supported by the rear (-X side) member 20B. The support 20 may also support other components such as balance weights.

[0028] Returning to Figure 3, the connecting member 22 is a member that connects the support body 20 to the drone 1. The connecting member 22 connects the support body 20 to the drone body 10 so that the support body 20 can move in the front-rear direction X perpendicular to the wall surface 4 relative to the drone body 10. The movement of the support body 20 in the front-rear direction X may be a movement along a circular arc around the drone 1, such as a swinging motion, or it may be a movement along a straight line.

[0029] The connecting member 22 may be a flexible member that allows the support 20 to move in the front-rear direction X relative to the drone body 10. The connecting member 22 may be a flexible linear or strip-shaped member extending between the support 20 and the drone body 10, such as a belt, rubber, or wire. As shown in Figure 4, in Embodiment 1, the connecting member 22 is four wires 22A to 22D, but is not limited to this, and any number of wires may be used. On the other hand, by providing four wires 22A to 22D, rotation of the support 20 around the vertical direction Z can be suppressed.

[0030] Since the support body 20 and the drone 1 are connected by wires 22A to 22D, forces and movements of the drone 1 in the forward / backward direction X are absorbed by the deformation or movement of wires 22A to 22D, making it difficult to transmit them to the support body 20.

[0031] One end of each wire 22A to 22D is connected to a different position on the support 20, and the other end of each wire 22A to 22D is connected to a different position on the drone body 10. In Embodiment 1, one end of each wire 22A to 22D is connected to the respective corners of the support 20. The other end of each wire 22A to 22D is connected to bases 13A to 13D provided on the drone body 10.

[0032] The drone body 10 is provided with two rails 11A and 11B extending in the front-rear direction X, and bases 13A to 13D supported by the rails 11A and 11B. The two rails 11A and 11B are fixed to the drone body 10 with a gap in the width direction Y. In Embodiment 1, they are fixed to the sides of the drone body 10 facing each other in the width direction Y, but are not limited to this, and may also be fixed to the bottom of the drone body 10. The bases 13A and 13B are supported on one rail 11A so as to be slidable in the front-rear direction X, and the bases 13C and 13D are supported on the other rail 11B so as to be slidable in the front-rear direction X.

[0033] Since the bases 13A to 13D are movable in the front-to-back direction X, the force and movement of the drone 1 in the front-to-back direction X are absorbed by the movement of the bases 13A to 13D, in addition to the deformation or movement of the wires 22A to 22D, making it even less likely to be transmitted to the support 20.

[0034] The pair of wheels 24 are components that come into contact with the wall surface 4 and can roll on the wall surface 4 as the drone 1 flies along it. The wheels 24 are disc or cylindrical components having a circumferential surface that rolls on the wall surface 4. The wheels 24 are, for example, tires. By providing the wheels 24, the movement of the support 20 along the wall surface 4 is facilitated.

[0035] A pair of wheels 24 are provided on the support 20 with a gap in the width direction Y. In Embodiment 1, the pair of wheels 24 are provided at both ends of a member 20A of the support 20 and are rotatable around the central axis of the member 20A. To prevent the member 20A from contacting the wall surface 4, the wheels 24 are provided so as to protrude a certain amount forward (+X side) from the member 20A. In this structure, by maintaining contact between the pair of wheels 24 and the wall surface 4, the gap between the wall surface 4 and the member 20A of the support 20 can be kept constant.

[0036] The inspection device 26 is positioned between a pair of wheels 24 and is a device that performs inspection of the wall surface 4. The inspection device 26 may perform the inspection based on physical phenomena such as sound and vibration caused by contact with the wall surface 4. In Embodiment 1, the inspection device 26 performs a tapping inspection to determine the condition of any loose tiles or mortar attached to the wall surface 4. The tapping inspection may also be called a percussion sound inspection.

[0037] In Embodiment 1, the inspection device 26 includes a tapping rod 25, a drive device 27, and a sensor 29.

[0038] The tapping rod 25 is a rod-shaped member that extends from the member 20A of the support 20 along the front-rear direction X, and has a tip 25A at its front (+X side) end. The tip 25A protrudes forward (+X side) toward the wall surface 4 from the member 20A and is capable of contacting the wall surface 4. In Embodiment 1, the tip 25A is spherical, but it may be any other shape that is capable of contacting the wall surface 4.

[0039] The drive unit 27 is a device that drives the tapping rod 25 so that it reciprocates in the forward / backward direction X. The drive unit 27 is an actuator that converts energy into motion in the forward / backward direction X, and is a motor such as a brushed DC motor.

[0040] As shown in Figures 5A and 5B, the tip 25A of the tapping rod 25 is movable between a retracted position P1 away from the wall surface 4 and an advanced position P2 advanced relative to the retracted position P1, by the drive of the drive device 27. In the advanced position P2, the tip 25A of the tapping rod 25 can contact the wall surface 4.

[0041] As shown in Figure 5B, in the forward position P2, the tip 25A is aligned with the wheel 24 in the vertical Z direction. The amount of protrusion of the tip 25A in the longitudinal direction X relative to the support 20 in the forward position P2 is the same as the amount of protrusion of the wheel 24 in the longitudinal direction X. Therefore, when the wheel 24 is pressed against the wall surface 4 and the wheel 24 and the wall surface 4 come into contact, the tip 25A can come into contact with the wall surface 4 in the forward position P2. Note that the amount of protrusion of the tip 25A in the longitudinal direction X in the forward position P2 may be greater than the amount of protrusion of the wheel 24 in the longitudinal direction X.

[0042] In Embodiment 1, the tapping rod 25 and the drive device 27 are positioned below the member 20A of the support 20, but the invention is not limited to this configuration.

[0043] Sensor 29 detects the physical phenomenon that occurs when the tip of the tapping rod 25 comes into contact with the wall surface 4. When the inspection device 26 performs a tapping inspection, sensor 29 is either a sound sensor or a vibration sensor. In Embodiment 1, sensor 29 is a microphone. The inspection device 26 may further include a storage medium that stores the sound detected by sensor 29.

[0044] Returning to Figure 3, the pressing device 28 is a device that generates a force that presses the pair of wheels 24 against the wall surface 4. Specifically, the pressing device 28 is a device that generates an airflow away from the wall surface 4, i.e., backward (-X direction), when the drone 1 is in flight and the support 20 is floating in the air. The backward (-X direction) airflow acts as a forward (+X direction) thrust on the support 20. The pressing device 28 may also be a fan or blower or other ventilation device that blows air backward (-X direction). Alternatively, the pressing device 28 may be a fin that deflects the airflow generated by the propeller 12 of the drone 1 backward (-X direction). In Embodiment 1, the pressing device 28 will be described as a ventilation device 28.

[0045] As shown in Figure 4, in Embodiment 1, the blower 28 has two fans 28A and 28B provided on a member 20B of the support 20 with a gap in the width direction Y. When viewed from the front-rear direction X, the two fans 28A and 28B are located on both sides of the inspection device 26. Note that the blower 28 is not limited to two fans, but may have one or any number of fans, three or more.

[0046] In Embodiment 1, the blower 28 is remotely controlled by the second transmitter 30 (see Figure 2). Specifically, the second transmitter 30 controls the rotation speed of the fans 28A and 28B of the blower 28.

[0047] (operation) With the above configuration, an example of the operation of the unmanned aerial vehicle device 100 will be described with reference to Figures 6 to 7B. Figure 6 is a schematic diagram showing the inspection path P of the unmanned aerial vehicle device 100 relative to the wall surface 4. Figures 7A and 7B are schematic diagrams of the unmanned aerial vehicle device 100 showing the forces acting on the unmanned aerial vehicle device 100 during operation.

[0048] The inspection path P indicates the movement path of the pair of wheels 24 when performing the inspection. As shown in Figure 6, the inspection path P extends upward from a predetermined starting point on the wall surface 4, extends a predetermined distance in the width direction Y, extends downward to the same height as the starting point, and then extends another predetermined distance in the width direction Y, repeating this pattern. The inspection path P may extend along any straight line or curve.

[0049] First, before the drone 1 begins flying, the user turns on the inspection device 26.

[0050] Next, in response to user input, the first transmitter 3 communicates with the drone communication unit 16, turns on the propeller motor 15, and rotates the propeller 12. The drone 1 takes off.

[0051] Next, the first transmitter 3 communicates with the drone communication unit 16 and causes the drone 1 to fly toward the wall surface 4. Specifically, the first transmitter 3 causes the drone 1 to fly so that the pair of wheels 24 make contact with the wall surface 4 at the starting point of the inspection path P. Then, the inspection device 26 starts inspecting the wall surface 4. The drive unit 27 drives the tapping rod 25 in the forward / backward direction X between the retracted position P1 and the forward position P2. The sensor 29 detects the sound generated by the tapping rod 25 striking the wall surface 4.

[0052] As shown in Figure 7A, when the tip 25A of the tapping rod 25 is in the forward position P2 and contacts the wall surface 4, the support 20 receives a reaction force R in the front-rear direction X from the wall surface 4.

[0053] Subsequently, or simultaneously with the start of the inspection, the second transmitter 30 communicates with the blower 28 and causes the blower 28 to blow air. Specifically, the second transmitter 30 turns on the fans 28A and 28B of the blower 28 and causes air to be blown to the rear (-X side). The air blown to the rear (-X side) by the blower 28 causes a thrust force F to act on the support 20 toward the front (+X side), and regardless of the generation of a reaction force R, contact between the wheel 24 and the wall surface 4 can be maintained, and contact between the tip 25A, which is located in the forward position P2, and the wall surface 4 can be maintained.

[0054] In Embodiment 1, an example was described in which the blower 28 starts blowing air after or simultaneously with the start of the inspection, but it is not limited to this. The blower 28 may blow air intermittently or in a predetermined blowing pattern. The blower 28 may also blow air continuously. On the other hand, if the blower 28 is OFF when the drone 1 takes off and lands, it becomes easier to control the drone 1. Furthermore, the second transmitter 30 may switch the blower 28 ON / OFF according to predetermined conditions. For example, if it is possible to communicate with the sensor 29 and the sound detected by the sensor 29 falls below a predetermined value, the second transmitter 30 may turn on the blower 28. If the support 20 is provided with a sensor capable of measuring the distance to the wall 4 and it is possible to communicate with the sensor, the second transmitter 30 may turn on the blower 28 when the distance between the support 20 and the wall 4 exceeds a predetermined value.

[0055] Next, the first transmitter 3 communicates with the drone communication unit 16 and causes the drone 1 to fly upwards. As the drone 1 ascends, the pair of wheels 24 come into contact with the wall surface 4 and roll along the inspection path P.

[0056] As shown in Figure 7B, when the drone 1 is flying, if the drone 1 is a small drone, it may move away from the wall 4 due to airflow, etc. However, the movement of the drone 1 in the forward / backward direction X is further absorbed by the deformation and movement of the connecting member 22, as well as by the sliding movement of the bases 13A to 13D on the rails 11A and 11B, and is suppressed from being transmitted to the support 20. Therefore, regardless of the position of the drone 1, contact between the wheels 24 and the wall 4 can be maintained, and contact between the tip 25A, which is in the forward position P2, and the wall 4 can be maintained.

[0057] Next, the first transmitter 3 communicates with the drone communication unit 16 and causes the drone 1 to fly in the width direction Y and descend. The first transmitter 3 repeats the above operation until it reaches the end of the inspection path P. By using the drone 1, inspections can be performed over a wide area of ​​the wall surface 4 even at sites where scaffolding has not been erected.

[0058] (effect) The unmanned aerial vehicle device 100 according to Embodiment 1 can achieve the following effects.

[0059] The first embodiment of the unmanned aerial vehicle device 100 comprises a drone 1 (unmanned aerial vehicle) that flies along a wall surface 4 extending in the vertical direction Z of a building, a support body 20, a pair of wheels 24, an inspection device 26, a pressing device 28, and transmitters 3 and 30 (control units). The support body 20 is connected to the drone 1 so as to be movable in the forward / backward direction X perpendicular to the wall surface 4. The pair of wheels 24 are provided on the support body 20 with spacing in the width direction Y perpendicular to the vertical direction Z and the forward / backward direction X, and are capable of rolling on the wall surface 4. The inspection device 26 is positioned between the pair of wheels 24 and has a tip 25A that can contact the wall surface 4. The pressing device 28 is provided on the support body 20 and generates a force that presses the pair of wheels 24 against the wall surface 4. The transmitters 3 and 30 remotely control the drone 1 and the pressing device 28 wirelessly.

[0060] This configuration makes it difficult for forces in the forward / backward direction X to be transmitted between the support 20 and the drone 1. Therefore, even if the drone 1 moves backward away from the wall 4, it is difficult for a backward force to act on the support 20. Furthermore, the pressing force from the pressing device 28 presses the pair of wheels 24 against the wall 4, maintaining contact with the wall 4. As a result, the distance between the support 20 and the wall 4 can be kept constant, and the tip 25A can easily make contact with the wall 4. Consequently, the inspection accuracy of the unmanned aerial vehicle device 100 is improved.

[0061] In the first embodiment of the unmanned aerial vehicle device 100, the pressing device 28 has a blower that blows air away from the wall surface 4.

[0062] With this configuration, when air is blown away from the wall surface 4, a thrust force acts on the support 20 toward the wall surface 4, making it easier for the tip 25A to come into contact with the wall surface 4.

[0063] The unmanned aerial vehicle device 100 of Embodiment 1 further comprises a connecting member 22 that connects the drone 1 and the support body 20. The connecting member 22 has a first wire 22A that connects the support body 20 and the drone 1, and a second wire 22C that connects the support body 20 and the drone 1 at a position different from that of the first wire 22A.

[0064] This configuration suppresses the rotation of the support 20 around the vertical Z direction compared to the case where a single wire is provided. As a result, the inspection device 26 can be directed toward the wall surface 4, and the tip 25A can more easily come into contact with the wall surface 4.

[0065] In the first embodiment of the unmanned aerial vehicle device 100, the drone 1 has rails 11A and 11B extending in the front-rear direction X, and a first base 13A and a second base 13C supported on the rails 11A and 11B so as to be movable in the front-rear direction X. A first wire 22A is connected to the first base 13A, and a second wire 22C is connected to the second base 13C.

[0066] This configuration makes it even more difficult for forces in the forward-backward direction X to be transmitted between the support 20 and the drone 1 due to the forward-backward movement X of the bases 13A and 13C along the rails 11A and 11B.

[0067] In the unmanned aerial vehicle device 100 of Embodiment 1, the rails 11A and 11B have a first rail 11A and a second rail 11B that are spaced apart in the width direction Y. The first base 13A is supported by the first rail 11A, and the second base 13C is supported by the second rail 11B.

[0068] This configuration makes it easier to suppress the tilt of the support 20 relative to the horizontal by dividing it into two rails 11A and 11B.

[0069] In the unmanned aerial vehicle device 100 of Embodiment 1, the support body 20 includes a first member 20A extending along the width direction Y, a second member 20B extending along the width direction Y and further away from the wall surface 4 than the first member 20A, and third members 20C and 20D connecting members 20A and 20B. A pair of wheels 24 and an inspection device 26 are supported on the first member 20A, and a pressing device 28 is supported on the second member 20B.

[0070] This configuration, by arranging the components in two members 20A and 20B, suppresses the tilting of the support 20 with respect to the front-to-back direction X, while making it easier for the tip 25A to contact the wall surface 4.

[0071] In the unmanned aerial vehicle device 100 of Embodiment 1, the third members 20C and 20D have a pair of members 20C and 20D that extend in the front-rear direction X and are spaced apart in the width direction Y. Members 20A to 20D define an opening 23 that penetrates in the vertical direction Z.

[0072] This configuration allows the airflow generated by the drone 1 to escape through the opening 23, suppressing movement and shaking of the support 20 caused by the airflow. The tip 25A is also more likely to make contact with the wall surface 4.

[0073] In the unmanned aerial vehicle device 100 of Embodiment 1, when viewed from the vertical direction Z, the drone 1 is located inside the opening 23.

[0074] This configuration allows more of the airflow generated by the drone 1 to escape through the opening 23.

[0075] The unmanned aerial vehicle unit 2 of Embodiment 1 comprises a support 20, a pair of wheels 24, an inspection device 26, and a pressing device 28.

[0076] With this configuration, the wall surface 4 can be inspected by attaching the unmanned aerial vehicle unit 2 to a commercially available drone.

[0077] The inspection method using the unmanned aerial vehicle device 100 of Embodiment 1 is a method for inspecting a wall surface 4 that extends vertically on a building. The inspection method includes flying the drone 1 along the wall surface 4 and bringing a pair of wheels 24, which are provided on a support 20 connected to the drone 1 and spaced apart in the width direction Y, and the tip 25A of an inspection device 26 positioned between the pair of wheels 24, into contact with the wall surface 4. The inspection method also includes rolling the pair of wheels 24 on the wall surface 4 and generating a force that presses the pair of wheels 24 against the wall surface 4 using a pressing device 28 provided on the support 20. The support 20 is connected to the drone 1 so as to be movable relative to it in the front-rear direction X.

[0078] This configuration makes it easier for the tip 25A to come into contact with the wall surface 4 during inspection, thereby improving inspection accuracy.

[0079] This disclosure is not limited to Embodiment 1, and can be implemented in various other forms.

[0080] In Embodiment 1, an example was described in which the unmanned aerial vehicle device 100 has one drone 1, but it is not limited to this. The unmanned aerial vehicle device 100 may have multiple drones 1. In this case, the support 20 may be directly attached to each drone 1, or the support 20 may be attached to multiple drones 1 connected in series with each other.

[0081] In Embodiment 1, an example was described in which the support 20 has members 20A to 20D, but the invention is not limited to this. The support 20 may have a single member connecting members 20A and 20B and may have an H-shape. The support 20 may also be a frame member having any shape, such as a ring shape opening in the vertical Z direction. Furthermore, the support 20 may be a plate-shaped member extending in the horizontal direction.

[0082] In Embodiment 1, an example was described in which the connecting member 22 is a wire 22A to 22D, but the invention is not limited to this. The connecting member 22 can be any member that enables relative movement between the support 20 and the drone body 10 in the front-rear direction X, for example, it may be a rail. Also, the connecting member 22 is not limited to a linear or strip-shaped member, for example, it may be a spring. On the other hand, if the connecting member 22 is a wire 22A to 22D, the air resistance experienced by the connecting member 22 can be reduced.

[0083] In Embodiment 1, an example was described in which the inspection device 26 performs an inspection to determine the degree of loosening of tiles or mortar, but the invention is not limited to this. The inspection device 26 may also perform other inspections, such as an inspection to measure the thickness of paint on the wall surface 4 through contact with the wall surface 4, an inspection to determine the location of internal cavities or cracks, or an inspection to measure the thickness of the structure or piping. Furthermore, the inspection device 26 may be detachable from the support 20 and replaceable.

[0084] In Embodiment 1, a configuration was described in which the second transmitter 30 communicates wirelessly only with the pressing device 28, but the invention is not limited to this. The second transmitter 30 may also communicate with the inspection device 26. For example, the second transmitter 30 may communicate with the drive device 27 to control the ON / OFF state of the drive device 27, the amplitude of its reciprocating motion, etc. The second transmitter 30 may also communicate with the sensor 29 to acquire information detected by the sensor 29. Furthermore, the second transmitter 30 may acquire the position information of the drone 1 at the time of detection along with the information detected by the sensor 29. For example, the second transmitter 30 may acquire time information and information on the inspection path P to calculate and acquire the position information of the drone 1 at the time of detection. If the drone 1 has a GPS sensor, the drone communication unit 16 may acquire the position information of the drone 1 from the GPS sensor and transmit it to the second transmitter 30.

[0085] While this disclosure is adequately described in relation to preferred embodiments with reference to the accompanying drawings, various modifications and alterations will be obvious to those skilled in the art. Such modifications and alterations should be understood to be included within the scope of the invention as defined by the appended claims. [Industrial applicability]

[0086] The unmanned aerial vehicle (UAV) device of this disclosure has the effect of improving inspection accuracy and is particularly useful in UAV devices that perform inspections on wall surfaces. [Explanation of symbols]

[0087] 1. Drone 2 Inspection Units 3. First Transmitter 10 Drone body 11A~11B Rail 12 propellers 13A~13D Bass 20 Support 22 Connecting Member 24 wheels 25. Percussion rod 25A tip 26 Inspection equipment 27 Drive unit 28 Blower 29 sensors 30. Second Transmitter

Claims

1. An unmanned aerial vehicle flying along the vertically extending wall surface of a building, The aforementioned unmanned aerial vehicle is provided with a support connected to it so as to be movable in the front-to-back direction perpendicular to the wall surface, A pair of wheels are provided on the support with spacing in the width direction perpendicular to the vertical and front-to-back directions, and are capable of rolling on the wall surface, An inspection device positioned between the pair of wheels and having a tip capable of contacting a wall surface, A pressing device provided on the support, which generates a force to press the pair of wheels against the wall surface, An unmanned aerial vehicle device comprising a control unit that remotely controls the unmanned aerial vehicle and the pressing device by wireless means.

2. The unmanned aerial vehicle device according to claim 1, wherein the pressing device has a blower that blows air away from the wall surface.

3. The system further comprises a connecting member that connects the unmanned aerial vehicle and the support, The unmanned aerial vehicle device according to claim 1 or 2, wherein the connecting member comprises a first wire connecting the support and the unmanned aerial vehicle, and a second wire connecting the support and the unmanned aerial vehicle at a position different from that of the first wire.

4. The aforementioned unmanned aerial vehicle has a rail extending in the front-rear direction, and a first base and a second base supported on the rail so as to be movable in the front-rear direction. The unmanned aerial vehicle device according to claim 3, wherein the first wire is connected to the first base and the second wire is connected to the second base.

5. The rail has a first rail and a second rail that are spaced apart in the width direction. The unmanned aerial vehicle device according to claim 4, wherein the first base is supported on the first rail and the second base is supported on the second rail.

6. The support comprises a first member extending along the width direction, a second member extending along the width direction and further away from the wall surface than the first member, and a third member connecting the first member and the second member. The pair of wheels and the inspection device are supported by the first member, The pressing device is supported by the second member, as described in claim 1 or 2.

7. The third member has a pair of members that extend in the front-rear direction and are spaced apart in the width direction. The unmanned aerial vehicle device according to claim 6, wherein the first member, the second member, and the third member define an opening that penetrates in the vertical direction.

8. The unmanned aerial vehicle device according to claim 7, wherein, when viewed from above, the unmanned aerial vehicle is located inside the opening.

9. An unmanned aerial vehicle unit to be attached to an unmanned aerial vehicle that flies along the vertically extending wall surface of a building, The aforementioned unmanned aerial vehicle is connected to a support that is movable in the front-to-back direction perpendicular to the wall, A pair of wheels are provided on the support with spacing in the width direction perpendicular to the vertical and front-to-back directions, and are capable of rolling on the wall surface, An inspection device positioned between the pair of wheels and having a tip capable of contacting a wall surface, A unit for an unmanned aerial vehicle, comprising a pressing device provided on the support, which generates a force that presses the pair of wheels against a wall surface.

10. A method for inspecting the vertically extending wall surface of a building using an unmanned aerial vehicle device, To fly an unmanned aerial vehicle along a wall, A support connected to the aforementioned unmanned aerial vehicle is provided with a pair of wheels spaced apart in the width direction perpendicular to the vertical direction, and the tip of an inspection device positioned between the pair of wheels is brought into contact with the wall surface. Rolling the aforementioned pair of wheels on the wall surface, This includes generating a force that presses the pair of wheels against the wall surface using a pressing device provided on the support, An inspection method using an unmanned aerial vehicle device, wherein the support is connected to the unmanned aerial vehicle so as to be movable relative to the wall surface in a front-to-back direction perpendicular to the wall surface.

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